A Center-of-Mass State Estimation Method for Biped Robot Walking Based on Federated Kalman Filtering
June 3, 2025·
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1 min read
Qiang Huang
Junhang Lai
Xuechao Chen
Zhangguo Yu
Junyao Gao
Qingqing Li
Chao Li
Abstract
This authorized invention patent concerns a center-of-mass state estimation method for biped robot walking based on federated Kalman filtering.
Type
Publication
Chinese Invention Patent
Patent record
| Field | Official record |
|---|---|
| Chinese title | 基于联邦卡尔曼滤波的双足机器人行走质心状态估计方法 |
| Patent number | ZL 2022 1 0904539.4 |
| Application date | 29 July 2022 |
| Grant date | 3 June 2025 |
| Grant announcement | CN 115183779 B |
| Certificate number | 7979388 |
| Patentee | Beijing Institute of Technology |
Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆、李超。
Authors
Junhang Lai
(he/him)
Ph.D. Candidate in Robotics
Junhang Lai is a Ph.D. candidate at the Institute of Intelligent Robotics, Beijing Institute of Technology. His work focuses on humanoid and legged robot locomotion, motion planning and control, reinforcement learning, simulation-to-real deployment, and embodied intelligence systems.